Three Axis Stabilizer Using One Motor and Configurable Mounting

ABSTRACT

A three axis stabilizer with one motor and configurable mounting is disclosed. The invention being comprised of six main components. A first component being an L-shaped camera mount configured to receive popular action cameras; a second component being a stabilizer mount allowing it to be affixed to a user or tripod; a third component being a stabilizer to control roll pitch and yaw individually during filming; a fourth part being a microprocessor; a fifth part being transitory memory to store programs and a sixth part being a single, electric motor that drives the stabilizer. An object of the invention is to reduce the overall size normally associated with three-motor, gimbal stabilization systems. Having a single motor, allows a user to manually position the camera on the various axis&#39;s to correct roll, pitch and yaw on a single axis—depending on the scene.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication No. 62/516,571.

BACKGROUND

A class of cameras, referred to herein as action cameras, has emergedfor use in sports activities. The current category leader is GOPRO,headquartered in San Mateo, Calif., which manufactures and markets arange of action cameras. These cameras capture video as well as stillimages.

Action cameras are typically mounted to a device or to the body of ahuman user during the performance of high speed activities such asbicycling, skiing, surfing, and skateboarding, Typically, during theperformance of these activities the individual and any required sportsequipment, such as a surfboard, skateboard or bicycle, moves or wobblesconsiderably. Consequently, when a video or image is captured during theperformance of such activity the resulting video can be shaky or wobbly,which may detract from the enjoyment of watching the resulting video, Asa consequence, image stabilizers have been invented to compensate forthe movement of the action camera to reduce the shake.

Prior art image stabilizers for action cameras, also referred to asgimbal stabilizers, provide stabilization in all three dimensions, roll,pitch and yaw. simultaneously using three motors, each of which performsstabilization in one axis. Thus, prior art image stabilizers have onemotor each for the pitch dimension, the roll dimension and the yawdimension. For example, GOPRO provides a 3-axis stabilizer named GO PROKARMA GRIP. Another 3-axis stabilizer is the FEIYU G3 ULTRA 3-AXISHANDHELD GIMBAL, by GUILIN FEIYU TECHNOLOGY, located in Guilin, China.

A disadvantage of prior art 3-axis stabilizers for action cameras isthat because they incorporate three motors they are bulky, and heavy. Asa consequence, prior art stabilizers cannot be readily mounted on auser's helmet or chest or on equipment, such as skis or bicycles, duringthe performance of a sports activity. Typically, they are mounted on astick or staff that is held by the user.

Thus, it would be desirable for a stabilizer used in conjunction with anaction camera to have reduced weight and size so that it can mountdirectly to a user's helmet, or to the body or to an item of sportsequipment during the performance of a sports activity.

It with respect to these considerations and others that the presentinvention has been made.

SUMMARY OF THE DESCRIPTION

Various embodiments of the subject invention pertain to a stabilizationdevice for action cameras that has reduced size and weight enabling itto be mounted to a user's helmet or body or to an item of sportsequipment during performance of a sporting activity. The stabilizer canbe configured to stabilize in any of the three spatial dimensions, roll,pitch, and yaw. The subject invention incorporates only a single motor.Thus, it stabilizes the camera in one axis at a time, as configured bythe user.

The invention provides two modes: a stabilizer mode, and a movingtime-lapse mode. The stabilizer mode stabilizes an action camera in oneaxis. The time-lapse mode rotates the camera from a starting or entrypoint to a finishing or exit point over a user configurable time period.

In certain embodiments, the invention is waterproof. As such it isdesigned to include O-rings, a closed or sealed motor and other designelements to prevent water from entering the electronics or motorcompartments.

BRIEF DESCRIPTION OF THE DRAWINGS

Non-limiting and non-exhaustive embodiments of the present invention aredescribed with reference to the following drawings. In the drawings,like reference numerals refer to like parts throughout the variousfigures unless otherwise specified.

For a better understanding of the present invention, reference will bemade to tire following Detailed Description of the Preferred Embodiment,which is to be read in association with the accompanying drawings,wherein:

FIGS. 1A-B are isometric views of one embodiment of a stabilizer for anaction camera.

FIGS. 2A-B are exploded views of one embodiment of the components of thestabilizer.

FIGS. 3A-C illustrate the configuration of an action camera and thestabilizer for each of the three spatial dimensions.

FIGS. 4A-4B illustrate the stabilizer 1 with camera mount 5 that isconfigured to stabilize a camera in the roll axis.

FIGS. 4C and 4D illustrate stabilizer 1 with a modified camera mount 5Athat is configured to stabilize a camera in the pitch axis

FIGS. 5A-B illustrate two modes provided by the stabilizer, astabilization mode and a moving time-lapse mode.

FIG. 6A is an exploded view of one embodiment of the components of amotor used in the stabilizer.

FIG. 6B is an isometric view of one embodiment of the motor used in thestabilizer.

The figures depict embodiments of the present invention for purposes ofillustration only. One skilled in the art will readily recognize fromthe following discussion that alternative embodiments of the structuresand methods illustrated herein may be employed without departing fromthe principles of the invention described herein.

DETAILED DESCRIPTION

The invention now will be described more fully hereinafter withreference to the accompanying drawings, which form a part hereof, andwhich show, by way of illustration, specific exemplary embodiments bywhich the invention may be practiced. This invention may, however, beembodied in many different forms and should not be construed as limitedto the embodiments set forth herein; rather, these embodiments areprovided so that this disclosure will be thorough and complete, and willfully convey the scope of the invention to those skilled in the art.Among other things, the invention may be embodied as methods, processes,systems, business methods or devices. Accordingly, the present inventionmay take the form of an entirely hardware embodiment, an entirelysoftware embodiment or an embodiment combining software and hardwareaspects. The following detailed description is, therefore, not to betaken in a limiting sense.

As used herein the following terms have the meanings given below:

Action camera—a camera, such as that provided by GOPRO, NIKON and othercompanies, that is intended for use in sporting activities. The primarycharacteristics for the purposes of the subject invention are that (1)an action camera is small enough to mount on a user's helmet or chest,or onto an item of sports equipment such as a skateboard, surfboard,bicycle, without disturbing the performance of the user, (2) itgenerates digital video images and in some cases digital still images,and (3) it has a mechanism for mounting to a mounting device that isfixed on the user's helmet or body or to an item of sporting equipment.Typically, the action camera incorporates a male (or female) mountingelement and the mounting device that is fixed to the user's helmet,apparel or equipment has a corresponding female (male) element.

User—a person using a camera, mobile device or other device where thesubject invention is attached to the device and is performing imagestabilization. Examples herein are directed towards a user being engagedin a sports activity and using an action camera; but the invention isnot limited to action cameras and sports activities.

Three axes—the three spatial axes are referred to herein as roll(longitudinal axis), pitch (lateral axis), yaw (vertical axis). Thesearc adopted from the three symmetry axes of a plane, as described in anarticle in WIKIPEDIA which can be found at:https://en.wikipedia.org/wiki/Aircraft_principal_axes.

Generalized Operation

The operation of certain aspects of the invention is described belowwith respect to FIGS. 1-4.

FIGS. 1A-B are isometric views of one embodiment of a stabilizer 1 foran action camera. Stabilizer 1 includes an enclosure 2 with a front face2 and a camera mount 5 that attaches to enclosure 2. In certainembodiments, camera mount 5 is the female portion of a mount where acamera (not depicted) has the male portion. Thus, stabilizer 1 and acamera connect via camera mount 5. Stabilizer 1 further includes a motor6 whose rotational motion stabilizes an attached camera in one axis.Stabilizer 1 attaches to a helmet, item of sporting equipment or anotherexternal element via a stabilizer mount 7. As depicted, stabilizer mount7 is a male mounting element and camera mount 5 is a correspondingfemale element. This enables stabilizer 1 to mount to any device with aGOPRO female mounting clement. Alternatively, stabilizer mount 7 can beof a different type than GOPRO, enabling it to mount to other types ofequipment. Generally, camera mount 5 and stabilizer mount 7 can have anytype of connection without departing from the scope and spirit of thesubject invention.

Stabilizer 1 further includes a user control 4 and a power interface 8.In certain embodiments control 4 is a push button. The number of pressesand the duration of the presses on control 4 can be determined bystabilizer 1 and used to activate various functions. In otherembodiments, other types of controls may be used. As illustrated, powerinterface 8, shown in a covered configuration, is a USB type interface.A user would press power interface 8 to uncover the actual interface andinsert a USB cable, USB interface may be used to receive power or totransmit and receive data signals.

FIG. 2A is an exploded view of one embodiment of the components ofstabilizer 1 that mounts to a camera 20. Stabilizer 1 uses mountinghardware referred as camera mount 21, which is typically provided by thecamera manufacturer. In this example configuration, camera 20 is shownas including a GOPRO style male connector that in turn connects to afemale camera mount 5 which attaches to stabilizer 1. Stabilizer Iincludes four major components: camera mount 5, enclosure 2, motor 6,and stabilizer mount 7. Enclosure 2, which has a front enclosure 22 anda back enclosure 23, houses electronic elements including a battery 20,processor, non-transitory memory for storing data, and programinstructions. In one embodiment, the electronics elements areimplemented as a printed circuit board assembly, PCBA 24. PCBA 24includes a processor and non-transitory memory that stores data andprogram instructions. PCBA 24 also includes an inertial measurement unit(IMU), which is electronic device, implemented in certain embodiments asone or more semiconductor chips, that measures and reports the angularposition or change in angular position of stabilizer 1, using acombination of accelerometers and gyroscopes, and, in some cases,magnetometers. As an example, if a user has an action camera withstabilizer 1 attached to their helmet while bicycling and they roll tothe right or left relative to the longitudinal direction of their motionthen the IMU will identify this change in position and report it to theprocessor. The processor in turn will send instructions to motor 6 tomove an equal amount in the opposite direction, i.e. to correct for theroll movement and thus stabilize the action camera in the roll axis.

Battery 20 is illustrated as including two rectangular battery cells.However, it may include more or less battery cells. In certainembodiments, battery 20 is a lithium ion type of battery.

Generally, stabilizer mount 7 connects to a corresponding mountingelement attached the user's helmet, apparel or to an item of equipmentand moves with the user or item of equipment. Motor 6 on the other handrotates around its axis in the direction opposite from the user'smovement to compensate for the user's movement. Stabilizer mount 7provides the same mounting interface as camera mount 21, thus enablingstabilizer 1 to provide the same type of attachment as camera 20.Stabilizer mount 7 and camera mount 5 can be replaced with other typesof mounting hardware; thus, together they form an interchangeablemounting solution that works with inter alia action cameras, other typesof cameras and video cameras, and mobile devices.

FIG. 2B is a detailed view of a portion of FIG. 2A that illustrates theoperation of an encoder 25 and a magnet 26 clement that together enablethe processor to precisely control the movement of motor 6. Encoder 25is a magnetic position sensor that converts the rotary movement orangular position of motor 6 into a digital signal by reading themagnetic field of magnet 26, which is connected to motor 6. An exampleof a commercially available device that implements the function ofencoder 25 is the AS5600 Position Sensor provided by AMS, headquarteredin Austria. Information about the AS5600 can be found at the followingwebsite;http://ams.com/eng/Products/Magnetic-Position-Sensors/Angle-Position-On-Axis/AS5600

Magnet 26, is connected to the Shaft 68 of the Motor 6. Encoder 25 readsthe angular position of magnet 26 to obtain information about theposition of the motor and then provides it to the processor, which, inturn, generates signals to motor 6 to improve stabilization. There is nocontact between encoder 25 and magnet 26.

Also, depicted in FIG. 2B is O-ring 27, which creates a water-tight sealbetween motor 6 and back enclosure 22. Generally, stabilizer 1 iswaterproof, thus every interface and every moving part must be sealed toprevent water intrusion.

FIGS. 3A-C illustrate three configurations in which an action camera ismounted to stabilizer 1 in such a way as to enable stabilizer 1 tostabilize the action camera in one axis.

FIG. 3A illustrates a configuration in which the back of an actioncamera is flush with front face 3. In this configuration, stabilizer 1rotates around the longitudinal axis of rotation of the action camera tostabilize the camera in the roll or longitudinal axis. The correctivemovement performed by stabilizer 1 stabilizes the camera in regard torolling movements.

FIG. 3B illustrates a configuration in which one side of an actioncamera is flush with front face 3. In this configuration, stabilizer 1rotates around the lateral axis of rotation of the action camera tostabilize the camera in the pitch or lateral axis. The correctivemovement performed by stabilizer 1 stabilizes the camera with respect topitching movements. As illustrated in FIGS. 4A-4D, a different cameramount may be used to achieve the mounting configuration illustrated inFIG. 3B. In other embodiments, an adapter may be used with camera mount5 to achieve the necessary connection.

FIG. 3C illustrates a configuration in which the bottom of an actioncamera is parallel with front face 3. Another way to describe thegeometric relationship is that the plane formed by the back of theaction camera is perpendicular to the plane formed by front face 3. Inthis configuration, stabilizer 1 rotates around the vertical axis ofrotation of the action camera to stabilize the camera in the yaw orvertical axis. The corrective movement performed by stabilizer 1stabilizes the camera in regard to yaw rotations, i.e. movements to theleft or right of the direction of motion.

It may be appreciated that camera mount 5 may vary for each of theconfigurations illustrated in FIGS. 3A-C. Specifically, in oneembodiment, as illustrated in FIGS. 4A-D, one camera, mount 5 is usedfor the configurations illustrated in FIGS. 3A and 3C while a differentcamera mount is used for configuration illustrated in FIG. 3B.

FIGS. 4A and 4B illustrate stabilizer 1 with camera mount 5 that isconfigured to stabilize a camera in the roll axis (as illustrated inFIG. 3A). FIG. 4B illustrates stabilizer 1 with camera 20 attached viacamera mount 5. Camera mount 5 is also suitable for stabilizing a camerain the yaw dimension, as illustrated in FIG. 3C.

FIGS. 4C and 4D illustrate stabilizer 1 with a modified camera mount 5Athat is configured to stabilize a camera in the pitch axis (asillustrated in FIG. 3B). FIG. 4D illustrates stabilizer 1 with camera 20attached via camera mount 5A. The only difference between camera mount 5and camera mount 5A is that the male connecting portion, i.e., thevertical prongs, of camera mount 5A is turned 90 degrees with respect tothose of camera mount 5. In another embodiment, an adapter can beprovided for camera mount 5 that provides a male connecting portion withthe desired rotation rather than providing a separate camera mount.

FIGS. 5A-B illustrate two modes provided by the stabilizer, astabilization mode and a moving time-lapse mode. Using control 4 a usercan select between the two different modes of operation, as described inTable 1 below. FIG. 5A illustrates the action of stabilizer 1 when instabilization mode. It depicts the rear of stabilizer 1 mounted to anaction camera in the roll (FIG. 3A) configuration. The horizontal lineindicates that the action of stabilizer 1 is to move the camera to theright or left in order to maintain the action camera such that itsleft-to-right axis is parallel to the ground.

FIG. 5B illustrates the action of stabilizer 1 when in moving time-lapsemode. It depicts the back of the action camera, and the action cameramounted to stabilizer 1 in the yaw (FIG. 3C) configuration. Afterselecting moving time-laps mode, the user then defines an exit(stopping) point or angle and an entry (starting) point or angle. Nextthe user can define a time interval over which to sweep the camera fromthe entry to the exit point. Next the user initiates the capturesequence and stabilizer 1 moves the action camera smoothly from theentry angle to the exit angle ever the defined time period. This isreferred to as a moving time-lapse in standard time-lapse photographythe direction of the camera doesn't change. After the stabilizer movesfrom the entry angle to the exit angle it returns to a ready state orturns off.

FIGS. 6A-6B provide further detail regarding the design and operation ofmotor 6.

FIG. 6A is an exploded view of one embodiment of the components of motor6. Moving right to left through the figure, a rotor 69 attaches to aback plate 70. Back plate 70 connects to removeable stabilizer mount 7(not depicted in FIG. 6A). In normal operation, stabilizer mount 7connects to a user or to an item of configuration and is thus maintainedin a stationary position in relation to the user or to the item ofequipment. Thus, if the user or item or equipment rolls, pitches oryaws, so does the back assembly, which includes of rotor 69, back plate70 and stabilizer mount 7.

Rotor 69 includes a number of fixed magnets arranged cylindricallyaround a shaft which defines a longitudinal axis for motor 6 andstabilizer 1. Although shaft 68 appears truncated, in fact it runs thelongitudinal length of motor 6.

Motor 6 includes 3 bearings, outer bearing 61 and inner bearings 64 and67, that rotate around shaft 68. A stator 66 with a plurality of coilsis mounted against a stator mount 65 and turns along with inner bearings64 and 67. An outer ring 62 and flux ring 63 fit against rotor 69 andform a waterproof outer housing for motor 6. Stator mount 65 connects toback enclosure 23 and transmits the rotational energy of motor 6 toenclosure 2 and hence camera 20 is camera mount 5.

Generally, rotor 69 and stator 66 exert rotational three against eachother. Since, rotor 69 is attached to back plate 70 which in turn isanchored, via stabilizer mount 7 (not depicted in FIG. 6A), to a user orto an item of equipment, this results in stator 66 together with thethree bearings rotating around shaft 68. Motor 6 is entirely closed, aspart of the general waterproof design of stabilizer 1, hence therotation of motor 6 is transmitted to an attached action camera throughstator mount 65 which attaches to back enclosure 23. The amount ofrotation of motor 6 is controlled by the processor on PCBA 24. Aspreviously discussed it moves in opposition to the movement of the useror device to which stabilizer mount 7 is anchored or attached.

FIG. 6B is an isometric view of one embodiment of motor 6. Asillustrated, back plate 70, flux ring 63 and outer ring 61 form anenclosure for motor 6. Rotational motion is transmitted through theattachment between stator mount 65, which rotates along with stator 66on the three bearings, and back enclosure 23. As indicated in FIG. 6B,stator mount 65 and back enclosure 23 wire attached by three screws.Note that FIG. 6B illustrates the three screw holes but not the screwsthemselves.

In the embodiments illustrated in FIGS. 6A-6B, motor 6 has an outerrotor design where the rotor, the moving element, is an outer cylinderthat incorporates permanent magnets and the stator fits inside the outercylinder. Further, motor 6 is a closed, DC, brushless motor. The motoris waterproof and includes 3 bearings.

User Commands

Table 1, below, provides one embodiment of a set of user commands thatmay he issued by a user and acted upon by stabilizer 1. Each command ismade by pressing or clicking control 4 as indicated. Additional ordifferent commands may be available without departing from the spirit orscope of the subject invention.

TABLE 1 User Commands User Command Effect 1 long press (>1 second) Turndevice on and off The following commands only operate when the device isturned on: 1 click Set to Roll & pitch stabilization mode 2 clicks Setto Yaw stabilization mode 3 clicks Set to Moving time-lapse mode 4clicks Set duration of moving time-lapse to 30 min 5 clicks Set durationof moving time-lapse to 60 min

The above specification, examples, and data provide a completedescription of the manufacture and use of the composition of theinvention. Since many embodiments of the invention can be made withoutdeparting from the spirit and scope of the invention, the inventionresides in the claims hereinafter appended.

What is claimed is:
 1. A camera stabilization system comprising: (a) a camera mount; (b) a stabilizer; (c) a stabilizer mount; (d) a USB interface; (e) a battery; (f) a motor; (g) a transitory memory; (h) a microprocessor; (i) a control button; and (i) a single electric motor.
 2. The camera mount of claim 1 being configured to receive popular action cameras thereon.
 3. The stabilizer mount of claim 1 being disposed to receive popular body part anchors thereto.
 4. The USB interface of claim 1 being connected to the onboard battery.
 5. The control button being connected to the battery and the microprocessor.
 6. A method for stabilizing cameras. The method comprising: (a) securing an action camera on multiple axis; (b) stabilizing roll pitch and yaw; (c) preventing water intrusion; (d) programming stabilizer start and stop angles; (e) mounting a camera on body part and tripod anchors.
 7. The stabilizing roll, pitch and yaw of claim 5 wherein roll, pitch and yaw are stabilized individually as determined by a user. 